#include "stm32f4xx.h"
#include "mpu6050.h"



float LPButterworth(float curr_input,Butter_BufferData *Buffer,Butter_Parameter *Parameter); 
FLOAT_XYZ Acc_sixcam_Filter(FLOAT_XYZ *acc);

double LPButterworth_filter(double sample_frequent,double cutoff_frequent,double x);


void _LP_Filter(float mpu);


FLOAT_XYZ ACC_20HZLP_Filter(FLOAT_XYZ *acc);
FLOAT_XYZ GYRO_30HZLP_Filter(FLOAT_XYZ *gyro);


FLOAT_XYZ ACC_15HZLP_Filter(FLOAT_XYZ *acc);
FLOAT_XYZ GYRO_20HZLP_Filter(FLOAT_XYZ *gyro);

FLOAT_XYZ LP100_20HZ_Filter(FLOAT_XYZ *acc);
FLOAT_XYZ LP100GYRO_20HZ_Filter(FLOAT_XYZ *acc);

FLOAT_ANGLE LP100ERROR_20HZ_Filter(Vector3f_t *acc);

